CN116494241A - Robot security control system - Google Patents
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- CN116494241A CN116494241A CN202310642350.7A CN202310642350A CN116494241A CN 116494241 A CN116494241 A CN 116494241A CN 202310642350 A CN202310642350 A CN 202310642350A CN 116494241 A CN116494241 A CN 116494241A
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- 238000012545 processing Methods 0.000 claims abstract description 100
- 238000012544 monitoring process Methods 0.000 claims abstract description 32
- 239000000779 smoke Substances 0.000 claims description 26
- 230000003993 interaction Effects 0.000 claims description 21
- 230000007613 environmental effect Effects 0.000 claims description 18
- 238000013500 data storage Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 239000011324 bead Substances 0.000 claims description 9
- 239000003623 enhancer Substances 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 230000005236 sound signal Effects 0.000 claims description 5
- 230000004297 night vision Effects 0.000 claims description 4
- 238000001931 thermography Methods 0.000 claims description 4
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000001629 suppression Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000007789 gas Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot security control system, which comprises a robot control system and a security control platform, wherein the robot control system comprises a main control module, a power module, a steering module, a monitoring module, a processing module, an alarm module and a power supply module.
Description
Technical Field
The invention relates to the technical field of security robots, in particular to a security control system of a robot.
Background
The security robot is a robot for maintaining social security and protecting the lives and properties of the national property and people. The intelligent security system can be divided into an indoor type and an outdoor type, and is mainly used for executing various security tasks, including patrol whistle, post duty, parking toll collector, system connection with various intelligent security subsystems (building talkbacks such as communities, enterprises, factories, government units and the like, access control, visitor systems, parking charge, monitoring, high-altitude parabolic cameras, ladder control, energy consumption, BA and the like), fire and air detection, threat assessment, condition judgment, detection, intruder prevention and the like. The indoor type is mainly applied to occasions such as warehouses and office buildings, and the outdoor type is used for main areas such as airports and warehouses. The explosive handling robot can be used for detecting and removing bombs and other dangerous goods in public places such as airports, warehouses and the like where criminals are placed, and can also be used for rescuing people.
Through retrieving, the patent of application number 201711350428.9 discloses an intelligent security patrol robot, this robot adopts the host computer structure of gyroscope, when the host computer has the counter weight, ensure that the counter weight face of rotator host computer is all the time towards ground, through the detection to ground distance, can prevent that the robot from being taken up or toppling, therefore have lightly small and exquisite, advantage with low costs, through adopting the control system of above-mentioned robot, can realize the autonomous localization of robot, realize the guide of route of marcing and target, and have humiture, smog, fire, toxic gas, super large sound, quick object movement, the sound recording, the video recording, approach, touch, the local sound of moving, light, electric alarm and self-defense function.
The security robot in the scheme only upgrades and strengthens the function of the equipment, but the robot has poor processing capability on collected images, data and voices, has incomplete storage function, is inconvenient to store the collected data, is inconvenient to check later and compare multiple groups of data, and timely discovers and solves problems, so that a security control system of the robot needs to be provided.
Disclosure of Invention
The invention aims to provide a robot security control system, which is designed by a processing module and a data storage module, wherein the image processing module can process a collected image gray level histogram, inhibit interference, sharpen edges and pseudo-color, adjust the brightness of an image, eliminate harmful light, inhibit noise of the image and improve the signal to noise ratio of the image, the data processing module compares collected data with a set data threshold value and stores the collected data each time, so that later checking and comparison of multiple groups of data are convenient, problems are found in time, the problems are solved, and the voice processing module can carry out filtering processing on the collected sound, eliminate noise and enhance audio signals so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the robot security control system comprises a robot control system and a security control platform, wherein the robot control system comprises a main control module, a power module, a steering module, a monitoring module, a processing module, an alarm module and a power supply module, the main control module is respectively connected with the power module, the steering module, the monitoring module, the processing module, the alarm module and the power supply module, the monitoring module is connected with the processing module, and the processing module comprises an image processing module, a data processing module and a voice processing module;
the power module is used for controlling the robot to advance or retreat, and a plurality of gears are set on the power module and used for adjusting the advancing speed of the robot;
the steering module is used for driving the robot to turn, and the steering angle of the steering module for driving the robot to turn is 30-40 degrees;
the monitoring module comprises a camera with an infrared night vision function, a thermal imaging module, a temperature sensor, a smoke gas sensor, a noise detection sensor and a voice interaction module, and the image processing module, the data processing module and the voice processing module are all connected with the monitoring module;
the alarm module comprises a buzzer and an alarm lamp for audible and visual alarm;
the security control platform comprises a display screen and a data storage module, wherein the display screen is electrically connected with the image processing module, the data storage module is electrically connected with the data processing module, and the voice interaction module is electrically connected with the voice processing module.
Preferably, the power module can set gears including a first gear, a second gear, a third gear and a reverse gear, wherein the running speed of the robot is 1-15km/h, the running speed of the first gear is 1-5km/h, the running speed of the second gear is 6-10km/h, the running speed of the third gear is 11-15km/h, and the reverse speed of the reverse gear is 1-5km/h.
Preferably, the camera is an adjustable rotary camera, the maximum rotation angle of the camera in the horizontal direction is 180 degrees, and the maximum rotation angle of the camera in the vertical direction is 90 degrees.
Preferably, the temperature sensor is used for monitoring the environmental temperature in the robot security area, the smoke sensor is used for monitoring the smoke concentration in the robot security area, and the noise detection sensor is used for monitoring the noise decibel value in the robot security area.
Preferably, the image processing module comprises an image preprocessing unit and an image secondary processing unit, wherein the image preprocessing unit decompresses collected image data and performs data enhancement on sample data, and the data enhancement comprises gray level histogram processing, interference suppression, edge sharpening and pseudo-color processing; the image secondary processing unit adopts an optical module and an image processing module to adjust the brightness of the image, eliminate harmful light, inhibit the noise of the image and improve the signal-to-noise ratio of the image.
Preferably, the data processing module can set a threshold value for the environmental temperature, the smoke concentration and the noise decibel value in the robot security area, the data processing module comprises a data acquisition unit and a data processing unit, the data acquisition unit is used for acquiring the environmental temperature, the smoke concentration and the noise decibel value in the robot security area, the data processing unit is used for comparing and analyzing the acquired environmental temperature, the smoke concentration and the noise decibel value with the set threshold value for the environmental temperature, the smoke concentration and the noise decibel value, and if the acquired data value is larger than the set threshold value, a signal is transmitted to the main control module, and the main control module controls the alarm module to send out an alarm.
Preferably, the voice processing module comprises a voice acquisition unit and a voice processing unit, the voice acquisition unit is used for monitoring sound in the robot security area, the voice processing unit comprises an audio filter and an audio enhancer, the audio filter is used for carrying out filtering processing on the acquired sound to eliminate noise, and the audio enhancer is used for enhancing an audio signal.
Preferably, the image processed by the image processing module is displayed on the display screen, the display screen comprises a power supply module, a display module and a control module, the display module comprises an LED lamp bead, the power supply module is used for providing power for the display module and the control module, the control module is used for generating a voltage control signal according to the forward voltage VF value of the LED lamp bead and transmitting the voltage control signal to the power supply module, and the voltage control signal is used for controlling the power supply module to provide required working voltage for the LED lamp bead.
Preferably, the data storage module is used for storing the environmental temperature, the smoke concentration and the noise decibel value in the robot security area monitored each time.
Preferably, the voice interaction module comprises a voice recognition unit, a front voice interaction unit, a TTS voice engine unit and a circuit board based on a microprocessor, wherein the voice recognition unit is used for receiving voice information and sending voice data to the front voice interaction unit and the TTS voice engine unit; the front voice interaction unit is used for receiving voice data sent by the voice recognition unit, and the circuit board controls the TTS voice engine unit to perform voice interaction corresponding to the voice data.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts the design of the processing module and the data storage module, wherein the image processing module can process the gray level histogram of the acquired image, inhibit interference, sharpen edges and pseudo color, adjust the brightness of the image, eliminate harmful light, inhibit noise of the image and improve the signal to noise ratio of the image, the data processing module compares the acquired data with a set data threshold value, and stores the data acquired each time, thereby facilitating later checking and comparison of multiple groups of data, finding problems in time and solving the problems, and the voice processing module can carry out filtering processing on the acquired sound, eliminate noise and enhance audio signals.
Drawings
Fig. 1 is a system block diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a technical solution: the robot security control system comprises a robot control system and a security control platform, wherein the robot control system comprises a main control module, a power module, a steering module, a monitoring module, a processing module, an alarm module and a power supply module, the main control module is respectively connected with the power module, the steering module, the monitoring module, the processing module, the alarm module and the power supply module, the monitoring module is connected with the processing module, and the processing module comprises an image processing module, a data processing module and a voice processing module;
the robot security performs all responsibilities of security in daily life, when a takeout needs to enter a residential area, a takeout person tells the robot security to enter to take out to an owner, the robot security can communicate with the owner by telephone to inquire whether to order the takeout, and if the owner does order the takeout, the robot security control fence is lifted to release the takeout person; if the owner denies the order takeaway, the robot guard will not pass the takeaway and drive it away as soon as possible.
And when the robot security guard patrols in the district, the robot security guard can automatically recognize license plates, search or inquire the number of the car owner according to the license plates, and call the car owner to remind the car owner to park the car to a designated position in time, and the car owner can send a short message to the mobile phone of the car owner under the condition of not receiving the call.
The power supply module is respectively connected with the power module, the steering module, the monitoring module, the processing module and the alarm module and supplies power for the power module, the steering module, the monitoring module, the processing module and the alarm module, and when the electric quantity of the power supply module is insufficient, the robot security guard can automatically move to the charging pile for charging.
The power module is used for controlling the robot to advance or retreat, and a plurality of gears are set on the power module and used for adjusting the advancing speed of the robot; for example, in a residential area, a robot guard walks between buildings through a power module to patrol;
the steering module is used for driving the robot to turn, and the steering angle of the steering module for driving the robot to turn is 30-40 degrees; the robot can conveniently make a safe turn.
The monitoring module comprises a camera with an infrared night vision function, a thermal imaging module, a temperature sensor, a smoke gas sensor, a noise detection sensor and a voice interaction module, and the image processing module, the data processing module and the voice processing module are all connected with the monitoring module;
the camera with the infrared night vision function can patrol and shoot for 24 hours continuously, record the safety condition in the residential area, and transmit the shot image to the image processing module for processing and then display on a background display screen.
The temperature sensor can detect whether the temperature of the patrol area is abnormal, whether inflammable and explosive objects exist in the patrol area, whether potential safety hazards exist at high temperature or not, and report the potential safety hazards in time;
the smoke gas sensor is used for detecting the smoke concentration in the patrol area;
the thermal imaging module is a detection device that detects infrared energy (heat) in a non-contact manner, converts the infrared energy (heat) into an electrical signal, and further generates a thermal image and a temperature value on a display, and can calculate the temperature value.
The alarm module comprises a buzzer and an alarm lamp for audible and visual alarm; and monitoring abnormal conditions, and rapidly and timely notifying workers of reaching the site to process.
The security control platform comprises a display screen and a data storage module, wherein the display screen is electrically connected with the image processing module, the data storage module is electrically connected with the data processing module, and the voice interaction module is electrically connected with the voice processing module.
The power module is characterized in that the settable gears of the power module comprise a first gear, a second gear, a third gear and a reverse gear, the running speed of the robot is 1-15km/h, the running speed of the first gear is 1-5km/h, the running speed of the second gear is 6-10km/h, the running speed of the third gear is 11-15km/h, and the reverse speed of the reverse gear is 1-5km/h. The travel speed of the robot can be adjusted according to the road condition in the travel route of the robot, and the stability of the robot in the inspection process is maintained.
The camera is set to the adjustable pivoted camera, the biggest rotation angle of camera in the horizontal direction is 180 degrees, the biggest rotation angle of camera in the vertical direction is 90 degrees.
The temperature sensor is used for monitoring the environmental temperature in the robot security area, the smoke sensor is used for monitoring the smoke concentration in the robot security area, and the noise detection sensor is used for monitoring the noise decibel value in the robot security area.
The image processing module comprises an image preprocessing unit and an image secondary processing unit, wherein the image preprocessing unit decompresses acquired image data and performs data enhancement on sample data, and the data enhancement comprises gray level histogram processing, interference suppression, edge sharpening and pseudo-color processing; the image secondary processing unit adopts an optical module and an image processing module to adjust the brightness of the image, eliminate harmful light, inhibit the noise of the image and improve the signal-to-noise ratio of the image.
The data processing module can set a threshold value for the environmental temperature, the smoke concentration and the noise decibel value in the robot security area, the data processing module comprises a data acquisition unit and a data processing unit, the data acquisition unit is used for acquiring the environmental temperature, the smoke concentration and the noise decibel value in the robot security area, the data processing unit is used for comparing the acquired environmental temperature, the smoke concentration and the noise decibel value with the set threshold value for the environmental temperature, the smoke concentration and the noise decibel value, if the acquired data value is larger than the set threshold value, a signal is transmitted to the main control module, the main control module controls the alarm module to send out an alarm, and specifically, the buzzer sends out sound, and the alarm lamp sends out flashing red light to give out an alarm.
The voice processing module comprises a voice acquisition unit and a voice processing unit, wherein the voice acquisition unit is used for monitoring sound in a robot security area, the voice processing unit comprises an audio filter and an audio enhancer, the audio filter is used for carrying out filtering processing on the acquired sound to eliminate noise, and the audio enhancer is used for enhancing an audio signal.
The image processed by the image processing module is displayed on the display screen, the display screen comprises a power supply module, a display module and a control module, the display module comprises an LED lamp bead, the power supply module is used for providing power for the display module and the control module, the control module is used for generating a voltage control signal according to the forward voltage VF value of the LED lamp bead and transmitting the voltage control signal to the power supply module, and the voltage control signal is used for controlling the power supply module to provide required working voltage for the LED lamp bead.
The data storage module is used for storing the environmental temperature, the smoke concentration and the noise decibel value in the robot security area monitored each time, facilitating later checking and comparison of multiple groups of data, finding out problems in time and solving the problems. And the data storage module also stores user information, such as the floor, room number, mobile phone number, license plate number and the like of the user, so that the owner can be contacted conveniently.
The voice interaction module comprises a voice recognition unit, a front voice interaction unit, a TTS voice engine unit and a circuit board based on a microprocessor, wherein the voice recognition unit is used for receiving voice information and sending voice data to the front voice interaction unit and the TTS voice engine unit; the front voice interaction unit is used for receiving voice data sent by the voice recognition unit, and the circuit board controls the TTS voice engine unit to perform voice interaction corresponding to the voice data.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A robot security control system, characterized in that: the system comprises a robot control system and a security control platform, wherein the robot control system comprises a main control module, a power module, a steering module, a monitoring module, a processing module, an alarm module and a power supply module, the main control module is respectively connected with the power module, the steering module, the monitoring module, the processing module, the alarm module and the power supply module, the monitoring module is connected with the processing module, and the processing module comprises an image processing module, a data processing module and a voice processing module;
the power module is used for controlling the robot to advance or retreat, and a plurality of gears are set on the power module and used for adjusting the advancing speed of the robot;
the steering module is used for driving the robot to turn, and the steering angle of the steering module for driving the robot to turn is 30-40 degrees;
the monitoring module comprises a camera with an infrared night vision function, a thermal imaging module, a temperature sensor, a smoke gas sensor, a noise detection sensor and a voice interaction module, and the image processing module, the data processing module and the voice processing module are all connected with the monitoring module;
the alarm module comprises a buzzer and an alarm lamp for audible and visual alarm;
the security control platform comprises a display screen and a data storage module, wherein the display screen is electrically connected with the image processing module, the data storage module is electrically connected with the data processing module, and the voice interaction module is electrically connected with the voice processing module.
2. The robot security control system of claim 1, wherein: the power module is characterized in that the settable gears of the power module comprise a first gear, a second gear, a third gear and a reverse gear, the running speed of the robot is 1-15km/h, the running speed of the first gear is 1-5km/h, the running speed of the second gear is 6-10km/h, the running speed of the third gear is 11-15km/h, and the reverse speed of the reverse gear is 1-5km/h.
3. The robot security control system of claim 1, wherein: the camera is set to the adjustable pivoted camera, the biggest rotation angle of camera in the horizontal direction is 180 degrees, the biggest rotation angle of camera in the vertical direction is 90 degrees.
4. The robot security control system of claim 1, wherein: the temperature sensor is used for monitoring the environmental temperature in the robot security area, the smoke sensor is used for monitoring the smoke concentration in the robot security area, and the noise detection sensor is used for monitoring the noise decibel value in the robot security area.
5. The robot security control system of claim 1, wherein: the image processing module comprises an image preprocessing unit and an image secondary processing unit, wherein the image preprocessing unit decompresses acquired image data and performs data enhancement on sample data, and the data enhancement comprises gray level histogram processing, interference suppression, edge sharpening and pseudo-color processing; the image secondary processing unit adopts an optical module and an image processing module to adjust the brightness of the image, eliminate harmful light, inhibit the noise of the image and improve the signal-to-noise ratio of the image.
6. The robot security control system of claim 1, wherein: the data processing module can set a threshold value for the environmental temperature, the smoke concentration and the noise decibel value in the robot security area, the data processing module comprises a data acquisition unit and a data processing unit, the data acquisition unit is used for acquiring the environmental temperature, the smoke concentration and the noise decibel value in the robot security area, the data processing unit is used for comparing the acquired environmental temperature, the smoke concentration and the noise decibel value with the set threshold value for the environmental temperature, the smoke concentration and the noise decibel value, and transmitting a signal to the main control module if the acquired data value is larger than the set threshold value, and the main control module controls the alarm module to send an alarm.
7. The robot security control system of claim 1, wherein: the voice processing module comprises a voice acquisition unit and a voice processing unit, wherein the voice acquisition unit is used for monitoring sound in a robot security area, the voice processing unit comprises an audio filter and an audio enhancer, the audio filter is used for carrying out filtering processing on the acquired sound to eliminate noise, and the audio enhancer is used for enhancing an audio signal.
8. The robot security control system of claim 1, wherein: the image processed by the image processing module is displayed on the display screen, the display screen comprises a power supply module, a display module and a control module, the display module comprises an LED lamp bead, the power supply module is used for providing power for the display module and the control module, the control module is used for generating a voltage control signal according to the forward voltage VF value of the LED lamp bead and transmitting the voltage control signal to the power supply module, and the voltage control signal is used for controlling the power supply module to provide required working voltage for the LED lamp bead.
9. The robot security control system of claim 1, wherein: the data storage module is used for storing the environmental temperature, the smoke concentration and the noise decibel value in the robot security area monitored each time.
10. The robot security control system of claim 1, wherein: the voice interaction module comprises a voice recognition unit, a front voice interaction unit, a TTS voice engine unit and a circuit board based on a microprocessor, wherein the voice recognition unit is used for receiving voice information and sending voice data to the front voice interaction unit and the TTS voice engine unit; the front voice interaction unit is used for receiving voice data sent by the voice recognition unit, and the circuit board controls the TTS voice engine unit to perform voice interaction corresponding to the voice data.
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Cited By (1)
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| CN117077854A (en) * | 2023-08-15 | 2023-11-17 | 广州视声智能科技有限公司 | Building energy consumption monitoring method and system based on sensor network |
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| CN115761638A (en) * | 2022-11-17 | 2023-03-07 | 广州极数科技有限公司 | Online real-time intelligent analysis method based on image data and terminal equipment |
| CN115691496A (en) * | 2022-12-29 | 2023-02-03 | 北京国安广传网络科技有限公司 | TTS-based health management robot voice interaction module |
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